Related papers: MRTA-Sim: A Modular Simulator for Multi-Robot Allo…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
Multi-robot collision-free and deadlock-free navigation in cluttered environments with static and dynamic obstacles is a fundamental problem for many applications. We introduce MRNAV, a framework for planning and control to effectively…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…
We propose a decentralized, learning-based framework for dynamic coalition formation in Multi-Robot Task Allocation (MRTA). Our approach extends MAPPO by integrating spatial action maps, robot motion planning, intention sharing, and task…
Multi-robot task allocation (MRTA) problems involve optimizing the allocation of robots to tasks. MRTA problems are known to be challenging when tasks require multiple robots and the team is composed of heterogeneous robots. These…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission.…
This paper proposes a new reactive temporal logic planning algorithm for multiple robots that operate in environments with unknown geometry modeled using occupancy grid maps. The robots are equipped with individual sensors that allow them…
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…
Recent advances in large language models (LLMs) have substantially accelerated the development of embodied agents. LLM-based multi-agent systems mitigate the inefficiency of single agents in complex tasks. However, they still suffer from…
Coordinating time-sensitive deliveries in environments like hospitals poses a complex challenge, particularly when managing multiple online pickup and delivery requests within strict time windows using a team of heterogeneous robots.…
Robots navigating dynamic, cluttered, and semantically complex environments must integrate perception, symbolic reasoning, and spatial planning to generalize across diverse layouts and object categories. Existing methods often rely on…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Developing excavation autonomy is challenging given the environments where excavators operate, the complexity of physical interaction and the degrees of freedom of operation of the excavator itself. Simulation is a useful tool to build…